Republic of Iraq

Ministry of Higher Education

and Scientific Research University of
Technology Control and Systems
Engineering Department

Assignment Name
Investigation of controllability and observability
for the RLC circuit

MODERN CONTROL :‫اسم امالدة‬

‫ دكتور امجد جليل‬:‫اسم التدريس ي‬

‫ وسن شاكر محمود‬:‫اسم الطالب‬

‫ ميكاترونكس‬:‫الفرع‬

‫ الرابعة‬:‫املرحلة‬

(‫ ) صباحية‬:‫نوع الدراسة‬

1
1. Problem Statement
For the following circuit diagram, let 1
= , = ̇ = ̇, = , =

2 1
= ,

derive the sate space representation:

̇ 1 1

1
]+ , ]+
[ ]= [ = [

2
̇ 2

and investigate the controllability and observability of the RLC circuit.

Figure (1)

2. Analysis:
BY KVL:
− ()− ()− ()=0
=0= 1
− ()− ()− ()=0
When , ( )
( )
()= =

Then ()= ()− ()

()
()
− − − =0

2
() ()

− ()−
− =0

2
() ()

=− − ()+

2
() () 1 1

=− −
()+

2
 0 1 () 0

()

−1
=[ − ] [ ( )] + [1] [ ]

2
()

[ ]
2

0 1 0
̇

[ −1 1
1 ]= [ − ][ 1
]+ [ ] ()

2 2

= [1 0] [ 1] + [0] ( ) 2

0 1 0

=[ 1 ] , = [ 1 ] , = [1 0 ], = [0]

− −

1
0
=[ ] =[ ]
1
−

− 1 1 1
= |0 ∗ − ∗ |=
2 2

−1
1 0
= [ ] ,= [
]
−

−1
0
=[ 1 0
].[ ]=[ ]

− 0 1

=[
1
]=[ 0]

0 1

3
3. Conclusion:
1- when the determinant of P is not equal to zero then the system is
completely controllable.
2-when the rank of Q is 2 and is equal to the n then the system is
completely observable

4. References:
1. Richard C. Dorf, Robert H. Bishop" Modern Control System," Prentice Hall, 2011.
2. William L. Brogan," Modern Control Theory" Prentice-Hall International, Inc., 1991.
3. Katsuhiko Ogata, "Modern control engineering", Prentice-Hall, 2010.